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<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="classcollision_1_1_collision_object_ex.html">CollisionObjectEx</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Provides functionality to use different collision solvers.  
 <a href="classcollision_1_1_collision_object_ex.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="collision__object__ex_8h_source.html">collision_object_ex.h</a>&gt;</code></p>
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Inheritance diagram for collision::CollisionObjectEx:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a358c5ace931619be56d441bdd8da4762"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a358c5ace931619be56d441bdd8da4762">CollisionObjectEx</a> ()</td></tr>
<tr class="separator:a358c5ace931619be56d441bdd8da4762"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c5a1b6ed938b80cd858d9107684ca9f"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a8c5a1b6ed938b80cd858d9107684ca9f">~CollisionObjectEx</a> ()</td></tr>
<tr class="separator:a8c5a1b6ed938b80cd858d9107684ca9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fa9738682fe6d4cdef843e99fa5e693"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">collide</a> (const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c, const <a class="el" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;req=<a class="el" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()) const</td></tr>
<tr class="separator:a7fa9738682fe6d4cdef843e99fa5e693"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50d6ae971b8c05c6ad8e876ed3141733"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">BVCheck</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) const</td></tr>
<tr class="separator:a50d6ae971b8c05c6ad8e876ed3141733"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7cbe600ed254b8e9ae54fd1e658d6991"><td class="memItemLeft" align="right" valign="top">virtual std::shared_ptr&lt; const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">getAABB</a> () const</td></tr>
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<tr class="memitem:a1e96193008a86cfe46c873d358aadc67"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">getSolverEntity</a> (<a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *&amp;ptr) const</td></tr>
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<tr class="memitem:a13442077fa8b22d7af2ae035dec5debe"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a13442077fa8b22d7af2ae035dec5debe">getContainerInterface</a> (void) const</td></tr>
<tr class="separator:a13442077fa8b22d7af2ae035dec5debe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabb5bfbf265a9816dd0e94fb3d883612"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">solvers::solverFCL::ISolverEntity_FCL</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#aabb5bfbf265a9816dd0e94fb3d883612">getFclInterface</a> (void) const</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_collision_object"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></td></tr>
<tr class="memitem:a96352a5369914c677a8f826b68028205 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a96352a5369914c677a8f826b68028205">~CollisionObject</a> ()</td></tr>
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<tr class="memitem:a2bc867e40184d64561ceac3f2276f976 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a> () const</td></tr>
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<tr class="memitem:a0d72d251df66cd7a7f42ec11eee1531f inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a0d72d251df66cd7a7f42ec11eee1531f">getCollisionObjectClass</a> () const</td></tr>
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<tr class="memitem:a08e7481df513e04cc02ae6806ce56020 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a08e7481df513e04cc02ae6806ce56020">print</a> (std::ostringstream &amp;stream) const</td></tr>
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<tr class="memitem:a9bc84c4dd5f378403d31393326a0644e inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a9bc84c4dd5f378403d31393326a0644e">toString</a> (std::ostringstream &amp;stream) const</td></tr>
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<tr class="memitem:a525c0826bd7ef13b2fe62868d3e49d30 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a525c0826bd7ef13b2fe62868d3e49d30">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map) const</td></tr>
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<tr class="memitem:a8b14d81e4da802dd2a5f805162cf6ad4 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a8b14d81e4da802dd2a5f805162cf6ad4">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) const</td></tr>
<tr class="separator:a8b14d81e4da802dd2a5f805162cf6ad4 inherit pub_methods_classcollision_1_1_collision_object"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada59ea467dae56bd3aba491fce9a05a3 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#ada59ea467dae56bd3aba491fce9a05a3">timeSlice</a> (int time_idx, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) const =0</td></tr>
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<tr class="memitem:a43b2608cfc67b33f4aa4216e11a9990d inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a43b2608cfc67b33f4aa4216e11a9990d">rayTrace</a> (const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;intersect) const</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:ab080033cf96284d10d0a7950bf2fd595"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a> (void)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Provides functionality to use different collision solvers. </p>

<p class="definition">Definition at line <a class="el" href="collision__object__ex_8h_source.html#l00024">24</a> of file <a class="el" href="collision__object__ex_8h_source.html">collision_object_ex.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a358c5ace931619be56d441bdd8da4762"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a358c5ace931619be56d441bdd8da4762">&#9670;&nbsp;</a></span>CollisionObjectEx()</h2>

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          <td class="memname">collision::CollisionObjectEx::CollisionObjectEx </td>
          <td>(</td>
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<p class="definition">Definition at line <a class="el" href="collision__object__ex_8h_source.html#l00027">27</a> of file <a class="el" href="collision__object__ex_8h_source.html">collision_object_ex.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8c5a1b6ed938b80cd858d9107684ca9f">&#9670;&nbsp;</a></span>~CollisionObjectEx()</h2>

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          <td class="memname">virtual collision::CollisionObjectEx::~CollisionObjectEx </td>
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<p class="definition">Definition at line <a class="el" href="collision__object__ex_8h_source.html#l00028">28</a> of file <a class="el" href="collision__object__ex_8h_source.html">collision_object_ex.h</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a50d6ae971b8c05c6ad8e876ed3141733">&#9670;&nbsp;</a></span>BVCheck()</h2>

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          <td class="memname">bool collision::CollisionObjectEx::BVCheck </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td>
          <td class="paramname"><em>obj2</em></td><td>)</td>
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<p>Implements <a class="el" href="classcollision_1_1_collision_object.html#a71984805dce3828e2d9e52dfa06e7b9e">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object__ex_8cc_source.html#l00020">20</a> of file <a class="el" href="collision__object__ex_8cc_source.html">collision_object_ex.cc</a>.</p>

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<a id="a7fa9738682fe6d4cdef843e99fa5e693"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7fa9738682fe6d4cdef843e99fa5e693">&#9670;&nbsp;</a></span>collide()</h2>

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          <td class="paramtype">const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;&#160;</td>
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          <td class="paramtype">const <a class="el" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;&#160;</td>
          <td class="paramname"><em>req</em> = <code><a class="el" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()</code>&#160;</td>
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          <td>)</td>
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<p>Implements <a class="el" href="classcollision_1_1_collision_object.html#a98bb20ca531cf5018fff83603e93b597">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object__ex_8cc_source.html#l00013">13</a> of file <a class="el" href="collision__object__ex_8cc_source.html">collision_object_ex.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7cbe600ed254b8e9ae54fd1e658d6991">&#9670;&nbsp;</a></span>getAABB()</h2>

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          <td class="memname">std::shared_ptr&lt; const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &gt; collision::CollisionObjectEx::getAABB </td>
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<p>Implements <a class="el" href="classcollision_1_1_collision_object.html#a47f5911d90f655e29ce682f037ad5ce7">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object__ex_8cc_source.html#l00031">31</a> of file <a class="el" href="collision__object__ex_8cc_source.html">collision_object_ex.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a13442077fa8b22d7af2ae035dec5debe">&#9670;&nbsp;</a></span>getContainerInterface()</h2>

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          <td class="memname">virtual const <a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a>* collision::CollisionObjectEx::getContainerInterface </td>
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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#ac46157b51daf99fdb5548cd233e76a14">collision::ShapeGroup</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object__ex_8h_source.html#l00040">40</a> of file <a class="el" href="collision__object__ex_8h_source.html">collision_object_ex.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aabb5bfbf265a9816dd0e94fb3d883612">&#9670;&nbsp;</a></span>getFclInterface()</h2>

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          <td class="memname">virtual const <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">solvers::solverFCL::ISolverEntity_FCL</a>* collision::CollisionObjectEx::getFclInterface </td>
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<p>Reimplemented in <a class="el" href="classcollision_1_1_shape_group.html#a87149f9541b5c74c56d437514118bb67">collision::ShapeGroup</a>, and <a class="el" href="classcollision_1_1_shape.html#a707571ba3a684c0ef61c82b099ea8035">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="collision__object__ex_8h_source.html#l00045">45</a> of file <a class="el" href="collision__object__ex_8h_source.html">collision_object_ex.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1e96193008a86cfe46c873d358aadc67">&#9670;&nbsp;</a></span>getSolverEntity()</h2>

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          <td class="memname">int collision::CollisionObjectEx::getSolverEntity </td>
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          <td class="paramtype"><a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *&amp;&#160;</td>
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<p class="definition">Definition at line <a class="el" href="collision__object__ex_8cc_source.html#l00048">48</a> of file <a class="el" href="collision__object__ex_8cc_source.html">collision_object_ex.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab080033cf96284d10d0a7950bf2fd595">&#9670;&nbsp;</a></span>invalidateCollisionEntityCache()</h2>

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          <td class="memname">void collision::CollisionObjectEx::invalidateCollisionEntityCache </td>
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          <td class="paramtype">void&#160;</td>
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<p class="definition">Definition at line <a class="el" href="collision__object__ex_8cc_source.html#l00043">43</a> of file <a class="el" href="collision__object__ex_8cc_source.html">collision_object_ex.cc</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>cpp/collision/include/collision/<a class="el" href="collision__object__ex_8h_source.html">collision_object_ex.h</a></li>
<li>cpp/collision/src/<a class="el" href="collision__object__ex_8cc_source.html">collision_object_ex.cc</a></li>
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